The Research On Off-line Programming And Simulation Technology Of Domestic Spraying Robot For High-speed Train

At present,the spraying work of high-speed train is mainly completed by manual work,which is inefficient,low-quality and unhealthy for workers.With the development of domestic spraying robot,the system integration capability of domestic industrial robot in large objects like high-speed train is gradually improving.However,the programming of spraying robot is still by manually teaching,which is not efficient either.In order to improve the application efficiency of spraying robot,the key technologies of off-line programming for domestic ER15HW spraying robot are studied in this paper,and the off-line programming and simulation software for domestic spraying robots is developed with independent innovation.The main research contents of this paper are as follows:The trajectory planning of high-speed train spraying is realized based on surface segmentation.By the use of the ellipse-double-β-distribution model of static coating thickness,the cumulative coating thickness distribution law of high-speed rail spraying is analyzed.The influence of track spacing on the thickness distribution of the coating is analyzed with the uniformity index of the coating,and the spraying offline trajectory planning scheme is determined.And the specific path planning for high-speed train spraying is achieved by intersecting surfaces,the target points with certain pose information are generated according to the tangent vector of curve and the normal vector of surface.An inverse solution algorithm for ER15HW spraying robot is proposed.In this paper,the kinematics model of robot is established by using M-DH（Modified-DH）modeling method.Two numerical methods,Newton iteration method and jacobian pseudo-inverse method,are used to solve the problem that the non-spherical wrist does not meet the particularity of Pieper criterion.First,simplify the structure of the robot to satisfy the Pieper principle.Using the explicit analytical solution as the initial value of the numerical method,the exact inverse solution of the robot is rapidly iterated,and the robustness of the algorithm near the singular position of the robot is guaranteed.The single solution time is less than5ms when the solution accuracy is set by e^-12,which is suitable for the calculation of simulation software.Combined with the research above,the independent development of offline programming and simulation software for spraying robots is completed based on the Open CASCADE open-source geometric modeling kernel,which has get rid of the dependence on other software.The offline programming and simulation test of the spraying area of high-speed rail is realized.Finally,the offline program is used in the high-speed train spraying experiment,and the results are consistent with the simulation,which proves that the offline software has a certain practical value.